Autolacing footwear motor having rotary drum encoder

ABSTRACT

An article of footwear, method, and motorized lacing system includes a motor, including a motor shaft, a spool, coupled to the motor shaft, configured to spool and unspool the lace based on the turning of the motor shaft, a processor circuit, and a three-dimensional encoder. The three-dimensional encoder defines a major axis and has a surface having a tabs extending from a drum, an optical sensor, positioned within optical range of the cylindrical encoder, configured to output a signal to the processor circuit indicative of a detected one of the tabs, and a beam break, positioned between the three-dimensional encoder and the optical sensor, forming a pair of slits. The optical sensor is positioned to view the tabs through the pair of slits, wherein the processor circuit is configured to operate the motor based, at least in part, on the signal as received from the optical sensor.

PRIORITY APPLICATIONS

This application claims the benefit of priority to U.S. ProvisionalApplication Ser. No. 62/773,842, filed Nov. 30, 2018 and U.S.Provisional Application Ser. No. 62/773,867, filed Nov. 30, 2018, thecontents of which are incorporated herein by reference in theirentireties.

TECHNICAL FIELD

The subject matter disclosed herein generally relates to an article offootwear having an autolacing motor and a rotary drum encoder.

BACKGROUND

Articles of footwear, such as shoes, may include a variety ofcomponents, both conventional and unconventional. Conventionalcomponents may include an upper, a sole, and laces or other securingmechanisms to enclose and secure the foot of a wearer within the articleof footwear. Unconventionally, a motorized lacing system may engage withthe lace to tighten and/or loosen the lace. Additional or alternativeelectronics may provide a variety of functionality for the article offootwear, including operating and driving the motor, sensing informationabout the nature of the article of footwear, providing lighted displaysand/or other sensory stimuli, and so forth.

BRIEF DESCRIPTION OF THE DRAWINGS

Some embodiments are illustrated by way of example and not limitation inthe figures of the accompanying drawings.

FIG. 1 is an exploded view illustration of components of a motorizedlacing system for an article of footwear, in an example embodiment.

FIG. 2 illustrates generally a block diagram of components of amotorized lacing system, in an example embodiment.

FIG. 3A is an exploded view of the lacing engine, in an exampleembodiment.

FIG. 3B is a view of the lower portion of the housing in relation to themain PCB.

FIGS. 4A and 4B are sequential block diagrams illustrating the functionof a post when a force is imparted on the lower portion, in an exampleembodiment.

FIGS. 5A and 5B are side and perspective views of the lace engine, in anexample embodiment.

FIG. 6 is a depiction of a three-dimensional encoder, in an exampleembodiment.

FIG. 7 is a depiction of an optical encoder, including thethree-dimensional encoder, in an example embodiment.

FIGS. 8A-8C illustrate the operation of an optical encoder which is offcenter relative to a major axis of the optical encoder, in an exampleembodiment.

FIG. 9 is a depiction of an alternative example of a three-dimensionalencoder, in an example embodiment.

FIGS. 10A-10C illustrate a manufacturing process for thethree-dimensional encoders, in an example embodiment.

FIG. 11 is an illustration of a three-dimensional encoder 1100, in anexample embodiment.

DETAILED DESCRIPTION

Example methods and systems are directed to an article of footwearhaving a rotary drum encoder. Examples merely typify possiblevariations. Unless explicitly stated otherwise, components and functionsare optional and may be combined or subdivided, and operations may varyin sequence or be combined or subdivided. In the following description,for purposes of explanation, numerous specific details are set forth toprovide a thorough understanding of example embodiments. It will beevident to one skilled in the art, however, that the present subjectmatter may be practiced without these specific details.

In general, and particularly for articles of footwear oriented towardthe performance of athletic activities, characteristics such as thesize, form, robustness, and weight of the article of footwear may be ofparticular importance. Where the components of the article of footwearpromote, for instance, a relatively tall, heavy, and/or fragile articleof footwear, the capacity of the article of footwear to be effective inthe performance of the athletic activity may be compromised.

One type of component that may be utilized within the context ofelectronics of an article of footwear, including within the motorizedlacing system, is an optical encoder. An optical encoder may be utilizedto track rotational movement of the motor and/or, e.g., a spool coupledto the motor and on which the lace is wound and unwound. By tracking therevolutions of the motor and/or the spool, a controller may obtaininformation about how much more the motor and/or spool may be turned toachieve a desired configuration of the lace. However, conventionaloptical encoders may create issues for the article of footwear such asthose described above, including having a relatively high stack up andbeing relatively fragile.

Conventional optical encoders may be planar, e.g., a circle. The opticalencoder may spin on an axis of the circle and an optical sensorpositioned above or below the circle may sense the passage of theportions of the encoder. A three-dimensional optical encoder has beendeveloped in the general shape of a drum or cylinder. As will bedescribed in detail herein, the three-dimensional optical encoder mayprovide both ease of manufacture as well as an implementation that isboth more compact than a conventional two-dimensional optical encoderand greater robustness.

FIG. 1 is an exploded view illustration of components of a motorizedlacing system for an article of footwear, in an example embodiment.While the system is described with respect to the article of footwear,it is to be recognized and understood that the principles described withrespect to the article of footwear apply equally well to any of avariety of wearable articles. The motorized lacing system 100illustrated in FIG. 1 includes a lacing engine 102 having a housingstructure 103, a lid 104, an actuator 106, a mid-sole plate 108, amid-sole 110, and an outsole 112. FIG. 1 illustrates the basic assemblysequence of components of an automated lacing footwear platform. Themotorized lacing system 100 starts with the mid-sole plate 108 beingsecured within the mid-sole. Next, the actuator 106 is inserted into anopening in the lateral side of the mid-sole plate opposite to interfacebuttons that can be embedded in the outsole 112. Next, the lacing engine102 is dropped into the mid-sole plate 108. In an example, the lacingsystem 100 is inserted under a continuous loop of lacing cable and thelacing cable is aligned with a spool in the lacing engine 102 (discussedbelow). Finally, the lid 104 is inserted into grooves in the mid-soleplate 108, secured into a closed position, and latched into a recess inthe mid-sole plate 108. The lid 104 can capture the lacing engine 102and can assist in maintaining alignment of a lacing cable duringoperation.

FIG. 2 illustrates generally a block diagram of components of amotorized lacing system 100, in an example embodiment. The system 100includes some, but not necessarily all, components of a motorized lacingsystem, including the lacing engine 102, the mid-sole plate 108, and theunderlying footwear 198. The system 100 as illustrated includesinterface buttons 200, interface button actuators 201, a foot presencesensor 202, and the lacing engine housing 103 enclosing a main PCB 204and a user interface PCB 206. The user interface PCB 206 includes thebuttons 200, one or more light emitting diodes (LEDs) 208 which mayilluminate the button actuators 201 or otherwise provide illuminationvisible outside of the article of footwear, an optical encoder unit 210,and an LED driver 212 which may provide power to the LEDs 208. The mainPCB 204 includes a processor circuit 214, an electronic data storage216, a battery charging circuit 218, a wireless transceiver 220, one ormore sensors 222, such as accelerometers, gyroscopes, and the like, anda motor driver 224.

The lacing engine 102 further includes a foot presence sensor 226, suchas a capacitive sensor, a motor 228, a transmission 230, a spool 232, abattery or power source 234, and a charging coil 236. The processorcircuit 214 is configured with instructions from the electronic datastorage 216 to cause motor driver 224 to activate the motor 228 to turnthe spool 232 by way of the transmission 230 in order to place a desiredamount of tension on a lace 238 wound about the spool 232. The processorcircuit 214 may receive inputs from a variety of sources, including thefoot presence sensor 226, the sensors 222, and the buttons 200, todecide, according to the instructions, to increase or decrease thetension on the lace 238. For instance, the foot presence sensor 226 maydetect the presence of a foot in the footwear 198, and the processorcircuit 216 may set the tension to a present tension level. The sensors222 may detect movement consistent with a particular activity level,e.g., causal walking, a vigorous physical activity, etc., and theprocessor circuit 214 may cause the tension to be set to a levelconsistent with that activity level, e.g., relatively loose for casualwalking and relatively tight for vigorous physical activity. A user maypress the button actuators 201 to manually command an incremental orlinear increase or decrease in tension as desired.

The battery 234 provides power for the components of the lacing engine102 in general and is, in the example embodiment, a rechargeablebattery. However, alternative power sources, such as non-rechargeablebatteries, super capacitors, and the like, are also contemplated. In theillustrated example, the battery 234 is coupled to the charging circuit218 and the recharge coil 236. When the recharge coil 236 is placed inproximity of an external charger 240, a charging circuit 242 mayenergize a transmit coil 244 to inductively induce a current in therecharge coil 236, which is then utilized by the charging circuit 218 torecharge the battery 234. Alternative recharging mechanisms arecontemplated, such as a piezoelectric generator located within thefootwear 198.

The wireless transceiver 220 is configured to communicate wirelesslywith a remote user device 246, such as a smartphone, wearable device,tablet computer, personal computer, and the like. In example, thewireless transceiver 220 is configured to communicate according to theBluetooth Low Energy modality, though the wireless transceiver 220 maycommunicate according to any suitable wireless modality, including nearfield communication (NFC), 802.11 WiFi, and the like. Moreover, thewireless transceiver 220 may be configured to communicate with multipleexternal user devices 246 and/or according to multiple differentwireless modalities. The wireless transceiver 220 may receiveinstructions from the user device 246, e.g., using an applicationoperating on the user device 246, for controlling the lacing engine 102,including to enter pre-determined modes of operation or to incrementallyor linearly increase or decrease the tension on the lace 238. Thewireless transceiver 220 may further transmit information about the laceengine 102 to the user device 246, e.g., an amount of tension on thelace 238 or otherwise an orientation of the spool 232, an amount ofcharge remaining on the battery 234, and any other desired informationabout the lacing engine 102 generally.

FIG. 3A is an exploded view of the lacing engine 102, in an exampleembodiment. The lacing engine 102 includes the housing 103, whichincludes an upper portion 103A and a lower portion 103B, which enclosethe lacing engine 102 generally, except for certain components which areexterior of the housing 103. Those components include the buttonactuators 201 (and related O-rings 300 for protecting the lacing engine102 against environmental conditions, such as moisture), the spool 232,which is secured to the transmission 230 via a setscrew 302 and which isenclosed with the lid 104, and a dielectric foam 304 of the footpresence sensor 226. Enclosed within the housing 103 is the main PCB204, the user interface PCB 206, the motor 228, the transmission 230,the battery 234, the recharge coil 236, and an electrode 306 and foam308 of the foot presence sensor 226.

Partially visible in the exploded view is the optical encoder unit 210.Specifically, a three-dimensional encoder 310 of the optical encoderunit 210 is coupled to the motor 228 and turns with the turning of themotor. Specific implementations of the three-dimensional encoder 310 areillustrated herein.

FIG. 3B is a view of the lower portion 103B of the housing 103 inrelation to the main PCB 204. Included in the lower portion 103B areposts 312 extending from in interior surface 314 of the lower portion103B of the housing 103. As will be illustrated herein, at least one ofthe posts 312 extend through a hole in the main PCB 204 (not visible).When an external force is placed on the exterior of the lower portion103B of the housing 103, e.g., because a wearer of the footwear 198steps on an object that imparts force through the mid-sole 110 and plate108 (FIG. 1), the lower portion 103B may flex. The posts 312 arepositioned such that the flexing of the lower portion 103B may result inone or more of the posts 312 contacting a relatively more solid orresilient component of the lacing engine 102, e.g., the motor 228, thetransmission 230, or the battery 234, rather than the a relatively lessresilient component, such as the main PCB 204.

FIGS. 4A and 4B are sequential block diagrams illustrating the functionof a post 312 when a force 400 is imparted on the lower portion 103B, inan example embodiment. The block diagram has been simplified andexaggerated for the purposes of illustration. It is to be recognizedthat multiple posts 312 may be implemented according to the principlesillustrated herein across a variety of locations, as illustrated in FIG.3B, and that the posts 312 may be positioned and configured to contactany suitable resilient component, as noted herein.

FIG. 4A shows the lower portion 103B coupled to the upper portion 103Awith a post 312 projecting from the interior surface 314 of the lowerportion 103B. The post 312 extends through a hole 402 formed in the mainPCB 204. As illustrated, the post does not contact the transmission 230but rather has a gap 404 therebetween. In various examples, the gap 404is less than a gap 406 between the main PCB 204 and the interior surface314. However, it is to be recognized that there may not be a gap 404 orthat the gap 404 may be approximately the same as the gap 406. As noforce has been imparted on the lower portion 103B, the lower portion103B is substantially flat and linear.

FIG. 4B shows the lower portion 103B bowed on account of the force 400imparted on the lower portion 103B. The bowing of the lower portion 103Bhas caused the post 312 to contact the transmission 230, transferring atleast some of the force 400 to the transmission 230. While the gap 404between the post 312 and the transmission 230 has been eliminated, atleast some gap 406 remains between the interior surface 314 and the mainPCB 204. As a result, in this example, no portion of the force 400 isimparted on the relatively fragile main PCB 204 and is instead impartedon the more resilient transmission 230.

It is to be recognized and understood that while the exaggeratedillustration shows no contact between the lower portion 103B and themain PCB 204, actual implementations may nonetheless result in somecontact between the lower portion 103B and the main PCB 204, and/or thatat least some of the force 400 is imparted on the main PCB 204. However,at minimum, the presence of the post 312 may tend to cause at least someof the force 400 to be imparted on the transmission 230 rather than onto the main PCB 204. A relative reduction in the amount of force 400imparted on the main PCB 204 than would be the case without the post 312may still reduce a likelihood of the main PCB 204 being damage fromimparted force 400 on the lower portion 103B.

FIGS. 5A and 5B are side and perspective views of the lace engine 102,in an example embodiment. Components such as the main PCB 204, userinterface PCB 206, motor 228, transmission 230, battery 234, electrode306, foam 308, and recharge coil 236 are contained within the topportion 103A and bottom portion 103B of the housing 103. The spool 232is secured to the transmission 230 via the set screw 302. The topportion 103A generally conforms to a curved contour of the motor 228.

In an example, the top portion 103A and bottom portion 103B are eachapproximately 1.5 millimeters thick. The recharge coil 236 isapproximately 0.7 millimeters thick, including a ferrite backing. Thebattery 234 is approximately 7.5 millimeters thick, accounting for aswelling of the battery 234 over time. In an example, the electrode 306is approximately 0.25 millimeters thick and the foam 308 isapproximately 0.5 millimeters thick, providing for a total thickness ofthe lace engine 102 proximate the battery 234 of approximately 11.75millimeters. In an example, the motor 228 is approximately 8.5millimeters thick and the lace engine 102 proximate the motor 228 has amaximum thickness of approximately 14.55 millimeters. In an example, thelace engine 102 proximate the spool 232 has a thickens of approximately14.7 millimeters.

FIG. 6 is a depiction of a three-dimensional encoder 600, in an exampleembodiment. The three-dimensional encoder 600 may function as thethree-dimensional encoder 310 in the optical encoder unit 210. Thethree-dimensional encoder 600 is a drum encoder, including a drumportion 602 and a securing portion 604 coupled to the cylindricalportion and configured to secure the three-dimensional encoder 600 toe.g., a motor shaft. The securing portion may be solid or may beindividual portions that extend between the drum portion 602 and themotor, e.g., spokes or the like.

As illustrated, the drum portion 602 is cylindrical and has a circularcross section, though any of a variety of suitable geometries arecontemplated, including conical, octagonal, and the like. As with thetwo-dimensional disk 300, the drum 600 includes a first plurality ofsegments 606, e.g., dark segments, alternatingly positioned between asecond plurality of segments 608, e.g., reflective segments. The firstand second plurality of segments 606, 608 are positioned on an exteriorsurface 610 of the drum portion 602.

FIG. 7 is a depiction of an optical encoder unit 700, including thethree-dimensional encoder 600, in an example embodiment. The opticalencoder 700 may operate as the optical encoder 210 in the block diagramof FIG. 2. In addition to the three-dimensional encoder 600, the opticalencoder 700 includes an optical sensor 702, including a first opticalsensor 704 and a second optical sensor 706 each within an optical range708 of the three-dimensional encoder 600, the optical range 708 being adistance over which the first and second optical sensors 704, 706 candifferentiate between the first and second plurality of segments 606,608. As such, the optical range 708 will be different between and amongdifferent types of first and second optical sensors 704, 706. In theevent that external design requirements may necessitate a specificdistance between the optical sensor 702 and the three-dimensionalencoder 600, first and second optical sensors 704, 706 may be selectedthat have an optical range 708 at least as long as the distance.

The first optical sensor 704 is positioned on a first major surface 710of the main PCB 204 while the second optical sensor 708 is positioned ona second major surface 712 of the main PCB 204. In the illustratedexample, the first and second optical sensors 704, 706 have a verticalspacing 714 approximately equal to a height 716 of each individual oneof the first and second plurality of segments 606, 608, e.g., withinapproximately five (5) percent of the height 716. As such, each of thefirst and second optical sensors 704, 706 will both tend to detect thesame type of segment, i.e., will both detect dark segments or reflectivesegments. If each of the first and second optical sensors 704, 706 donot detect the same type of segment, e.g., the first optical sensor 704detects one of the first plurality of segments 606 and the secondoptical sensor 706 detects one of the second plurality of segments 608(or vice versa), the inconsistency may be expected to be resolved soonin favor of both the first and second optical sensor 704, 706 detectingthe same type of segment 606, 608.

While a particular configuration of the optical sensor 702 isillustrated, it noted and emphasized that the number and orientation ofoptical sensors may be varied between and among differentimplementations. Thus, in an example an alternative example of theoptical sensor 702 may have only one individual optical sensor, while afurther alternative example of the optical sensor 702 may include threeor more individual optical sensors. However, in various examples, eachoptical sensor is positioned on one of the major surfaces 710, 712 ofthe main PCB 204.

FIGS. 8A-8C illustrate the operation of an optical encoder unit 700which is off center relative to a major axis 800 of the optical encoder700, in an example embodiment. In FIG. 8A, a center 802 of an aperture804 in the securing section 604 through which the motor shaft 306 maypass is offset by distance relative to the major axis 800. In FIG. 8B,with the aperture 804 fixed about the shaft, the exterior surface 610and, by extension, the first and second plurality of segments 606, 608,come to within a first distance 806 of the optical sensor 702. In FIG.8C, the optical encoder 700 having completed a half-rotation relative toin FIG. 8B, the exterior surface 610 comes to within a second distance808 of the optical sensor 702, the second distance 808 being greaterthan the first distance 806, owing to the off-center aperture 804 beingfixed about the motor shaft.

Offsets between the major axis 800 and the center 802 of the aperturemay be an unintended consequence of a manufacture process. However,because of the properties of the optical sensor 700, the apparent height716 (FIG. 7) of each of the first and second plurality of segments 606,608 may remain the same. As a result, such concentricity issues maymerely result in a difference in focal distance of the optical sensor702. Differences in the focal distance may be resolved by the opticalsensor 702 within the optical range 708 of the optical sensor 702. Assuch, the optical encoder 700 may allow for greater variance in amanufacturing process than may be allowed in a manufacturing process ofthe optical encoder 300, as well as be more robust to normal wear andtear during use.

FIG. 9 is a depiction of an alternative example of a three-dimensionalencoder 900, in an example embodiment. The three-dimensional encoder 900may otherwise have the same properties as the three-dimensional encoder600. But rather than having the first and second plurality of segments606, 608 on an outside surface of the drum portion 602, thethree-dimensional encoder 900 includes the first and second plurality ofsegments 606, 608 on an interior surface 902. The three-dimensionalencoder 900 may otherwise be utilized in an arrangement similar to thatof the optical sensor 700, with the optical sensors 702 positioned tosense the interior surface 902.

FIGS. 10A-10C illustrate a manufacturing process for thethree-dimensional encoders 700, 900, in an example embodiment.

In FIG. 10A, a sheet 1000 of elongate first and second plurality ofsegments 606, 608 is cut into individual strips 1002. The sheet 1000 ismade of any suitable material, such as Mylar, and the dark segments,e.g., the first plurality of segments 606, are printed onto a majorsurface 1004 of sheet 1000. The reflective segments, e.g., the secondplurality of segments 608, are untreated or substantially untreatedMylar.

In FIG. 10B, the strip 1002 is folded so that the major surface 1004,i.e., the printed side, is either on an exterior surface 708 or aninterior surface 902, as desired. A first end 1006 is secured to asecond end 1008 to make a loop.

In FIG. 10C, the strip 1002 is coupled to a frame 1010 to form thethree-dimensional encoder 700, 900, as desired. The frame 1010 includesthe securing portion 604 and a drum 1012 on which to fix the strip 1002to form the drum portion 602.

FIG. 11 is an illustration of a three-dimensional encoder 1100, in anexample embodiment. Unlike the three-dimensional encoders 700, 900, thethree-dimensional encoder 1100 utilizes tabs 1102 and gaps 1104 toprovide surfaces or lack thereof from light is either reflected, in thecase of the tabs 1102, or not reflected, in the case of the gaps 1104.The optical sensors 1106, 1108 detect the light reflected from the tabs1102 and not the absence of reflected light when the gaps 1104 alignwith the optical sensors 1106, 1108. In an example, the optical sensor1106, 1108 form an angle therebetween of approximately fifty-four (54)degrees. A beam break 1110 includes slits 1112 through which lightpasses to focus the light for the purposes of the focusing the light fordetection by the optical sensors 1106, 1108. The three-dimensionalencoder 1100 is rotationally coupled to the motor 228, as with the otherencoders 700, 900.

EXAMPLES

In Example 1, an article of footwear includes a midsole, an uppersecured with respect to the midsole, a lace extending through the upper,and a motorized lacing system positioned within the midsole, configuredto engage with the lace to increase and decrease tension on the lace,the motorized lacing system comprising a motor, including a motor shaft,a spool, coupled to the motor shaft, configured to spool and unspool thelace based on the turning of the motor shaft, a processor circuit, and athree-dimensional encoder defining a major axis and having a surfacehaving a plurality of tabs extending from a drum, an optical sensor,positioned within optical range of the cylindrical encoder, configuredto output a signal to the processor circuit indicative of a detected oneof the plurality of tabs, and a beam break, positioned between thethree-dimensional encoder and the optical sensor, forming a pair ofslits, wherein the optical sensor is positioned to view the plurality oftabs through the pair of slits, wherein the processor circuit isconfigured to operate the motor based, at least in part, on the signalas received from the optical sensor.

In Example 2, the article of footwear of Example 1 optionally furtherincludes that the optical sensor is a first optical sensor and furthercomprising a second optical sensor spaced apart from the first opticalsensor.

In Example 3, the article of footwear of any one or more of Examples 1and 2 optionally further includes that the first optical sensor ispositioned proximate a first one of the pair of slits and the secondoptical sensor is positioned proximate a second one of the pair ofslits.

In Example 4, the article of footwear of any one or more of Examples 1-3optionally further includes that the first and second optical sensorsform an angle of approximately fifty-four degrees with respect to oneanother.

In Example 5, the article of footwear of any one or more of Examples 1-4optionally further includes that the tabs are spaced with respect to oneanother so that when one of the tabs is aligned with one of the slitsanother one of the tabs is aligned with the other of the slits.

In Example 6, the article of footwear of any one or more of Examples 1-5optionally further includes that the plurality of tabs is five tabs.

In Example 7, the article of footwear of any one or more of Examples 1-6optionally further includes that the plurality of tabs is an odd number.

In Example 8, a method includes securing an upper secured with respectto a midsole, extending a lace through the upper, and positioning amotorized lacing system within the midsole, the motorized lacing systemconfigured to engage with the lace to increase and decrease tension onthe lace, the motorized lacing system comprising a motor, including amotor shaft, a spool, coupled to the motor shaft, configured to spooland unspool the lace based on the turning of the motor shaft, aprocessor circuit, and an optical encoder, comprising athree-dimensional encoder defining a major axis and having a surfacehaving a plurality of tabs extending from a drum, an optical sensor,positioned within optical range of the cylindrical encoder, configuredto output a signal to the processor circuit indicative of a detected oneof the plurality of tabs, and a beam break, positioned between thethree-dimensional encoder and the optical sensor, forming a pair ofslits, wherein the optical sensor is positioned to view the plurality oftabs through the pair of slits, wherein the processor circuit isconfigured to operate the motor based, at least in part, on the signalas received from the optical sensor.

In Example 9, the method of Example 8 optionally further includes thatthe optical sensor is a first optical sensor and further comprising asecond optical sensor spaced apart from the first optical sensor.

In Example 10, the method of any one or more of Examples 8 and 9optionally further includes that the first optical sensor is positionedproximate a first one of the pair of slits and the second optical sensoris positioned proximate a second one of the pair of slits.

In Example 11, the method of any one or more of Examples 8-10 optionallyfurther includes that the first and second optical sensors form an angleof approximately fifty-four degrees with respect to one another.

In Example 12, the method of any one or more of Examples 8-11 optionallyfurther includes that the tabs are spaced with respect to one another sothat when one of the tabs is aligned with one of the slits another oneof the tabs is aligned with the other of the slits.

In Example 13, the method of any one or more of Examples 8-12 optionallyfurther includes that the plurality of tabs is five tabs.

In Example 14, the method of any one or more of Examples 8-13 optionallyfurther includes that the plurality of tabs is an odd number.

In Example 15, a motorized lacing system includes a motor, including amotor shaft, a spool, coupled to the motor shaft, configured to spooland unspool the lace based on the turning of the motor shaft, aprocessor circuit, and a three-dimensional encoder defining a major axisand having a surface having a plurality of tabs extending from a drum,an optical sensor, positioned within optical range of the cylindricalencoder, configured to output a signal to the processor circuitindicative of a detected one of the plurality of tabs, and a beam break,positioned between the three-dimensional encoder and the optical sensor,forming a pair of slits, wherein the optical sensor is positioned toview the plurality of tabs through the pair of slits, wherein theprocessor circuit is configured to operate the motor based, at least inpart, on the signal as received from the optical sensor.

In Example 16, the motorized lacing system of Example 1 optionallyfurther includes that the optical sensor is a first optical sensor andfurther comprising a second optical sensor spaced apart from the firstoptical sensor.

In Example 17, the motorized lacing system of any one or more ofExamples 1 and 2 optionally further includes that the first opticalsensor is positioned proximate a first one of the pair of slits and thesecond optical sensor is positioned proximate a second one of the pairof slits.

In Example 18, the motorized lacing system of any one or more ofExamples 1-3 optionally further includes that the first and secondoptical sensors form an angle of approximately fifty-four degrees withrespect to one another.

In Example 19, the motorized lacing system of any one or more ofExamples 1-4 optionally further includes that the tabs are spaced withrespect to one another so that when one of the tabs is aligned with oneof the slits another one of the tabs is aligned with the other of theslits.

In Example 20, the motorized lacing system of any one or more ofExamples 1-5 optionally further includes that the plurality of tabs isfive tabs.

In Example 21, the motorized lacing system of any one or more ofExamples 1-6 optionally further includes that the plurality of tabs isan odd number.

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Certain embodiments are described herein as including logic or a numberof components, modules, or mechanisms. Modules may constitute eithersoftware modules (e.g., code embodied on a machine-readable medium or ina transmission signal) or hardware modules. A “hardware module” is atangible unit capable of performing certain operations and may beconfigured or arranged in a certain physical manner. In various exampleembodiments, one or more computer systems (e.g., a standalone computersystem, a client computer system, or a server computer system) or one ormore hardware modules of a computer system (e.g., a processor or a groupof processors) may be configured by software (e.g., an application orapplication portion) as a hardware module that operates to performcertain operations as described herein.

In some embodiments, a hardware module may be implemented mechanically,electronically, or any suitable combination thereof. For example, ahardware module may include dedicated circuitry or logic that ispermanently configured to perform certain operations. For example, ahardware module may be a special-purpose processor, such as a fieldprogrammable gate array (FPGA) or an ASIC. A hardware module may alsoinclude programmable logic or circuitry that is temporarily configuredby software to perform certain operations. For example, a hardwaremodule may include software encompassed within a general-purposeprocessor or other programmable processor. It will be appreciated thatthe decision to implement a hardware module mechanically, in dedicatedand permanently configured circuitry, or in temporarily configuredcircuitry (e.g., configured by software) may be driven by cost and timeconsiderations.

Accordingly, the phrase “hardware module” should be understood toencompass a tangible entity, be that an entity that is physicallyconstructed, permanently configured (e.g., hardwired), or temporarilyconfigured (e.g., programmed) to operate in a certain manner or toperform certain operations described herein. As used herein,“hardware-implemented module” refers to a hardware module. Consideringembodiments in which hardware modules are temporarily configured (e.g.,programmed), each of the hardware modules need not be configured orinstantiated at any one instance in time. For example, where a hardwaremodule comprises a general-purpose processor configured by software tobecome a special-purpose processor, the general-purpose processor may beconfigured as respectively different special-purpose processors (e.g.,comprising different hardware modules) at different times. Software mayaccordingly configure a processor, for example, to constitute aparticular hardware module at one instance of time and to constitute adifferent hardware module at a different instance of time.

Hardware modules can provide information to, and receive informationfrom, other hardware modules. Accordingly, the described hardwaremodules may be regarded as being communicatively coupled. Where multiplehardware modules exist contemporaneously, communications may be achievedthrough signal transmission (e.g., over appropriate circuits and buses)between or among two or more of the hardware modules. In embodiments inwhich multiple hardware modules are configured or instantiated atdifferent times, communications between such hardware modules may beachieved, for example, through the storage and retrieval of informationin memory structures to which the multiple hardware modules have access.For example, one hardware module may perform an operation and store theoutput of that operation in a memory device to which it iscommunicatively coupled. A further hardware module may then, at a latertime, access the memory device to retrieve and process the storedoutput. Hardware modules may also initiate communications with input oroutput devices, and can operate on a resource (e.g., a collection ofinformation).

The various operations of example methods described herein may beperformed, at least partially, by one or more processors that aretemporarily configured (e.g., by software) or permanently configured toperform the relevant operations. Whether temporarily or permanentlyconfigured, such processors may constitute processor-implemented modulesthat operate to perform one or more operations or functions describedherein. As used herein, “processor-implemented module” refers to ahardware module implemented using one or more processors.

Similarly, the methods described herein may be at least partiallyprocessor-implemented, a processor being an example of hardware. Forexample, at least some of the operations of a method may be performed byone or more processors or processor-implemented modules. Moreover, theone or more processors may also operate to support performance of therelevant operations in a “cloud computing” environment or as a “softwareas a service” (SaaS). For example, at least some of the operations maybe performed by a group of computers (as examples of machines includingprocessors), with these operations being accessible via a network (e.g.,the Internet) and via one or more appropriate interfaces (e.g., anapplication program interface (API)).

The performance of certain of the operations may be distributed amongthe one or more processors, not only residing within a single machine,but deployed across a number of machines. In some example embodiments,the one or more processors or processor-implemented modules may belocated in a single geographic location (e.g., within a homeenvironment, an office environment, or a server farm). In other exampleembodiments, the one or more processors or processor-implemented modulesmay be distributed across a number of geographic locations.

Some portions of this specification are presented in terms of algorithmsor symbolic representations of operations on data stored as bits orbinary digital signals within a machine memory (e.g., a computermemory). These algorithms or symbolic representations are examples oftechniques used by those of ordinary skill in the data processing artsto convey the substance of their work to others skilled in the art. Asused herein, an “algorithm” is a self-consistent sequence of operationsor similar processing leading to a desired result. In this context,algorithms and operations involve physical manipulation of physicalquantities. Typically, but not necessarily, such quantities may take theform of electrical, magnetic, or optical signals capable of beingstored, accessed, transferred, combined, compared, or otherwisemanipulated by a machine. It is convenient at times, principally forreasons of common usage, to refer to such signals using words such as“data,” “content,” “bits,” “values,” “elements,” “symbols,”“characters,” “terms,” “numbers,” “numerals,” or the like. These words,however, are merely convenient labels and are to be associated withappropriate physical quantities.

Unless specifically stated otherwise, discussions herein using wordssuch as “processing,” “computing,” “calculating,” “determining,”“presenting,” “displaying,” or the like may refer to actions orprocesses of a machine (e.g., a computer) that manipulates or transformsdata represented as physical (e.g., electronic, magnetic, or optical)quantities within one or more memories (e.g., volatile memory,non-volatile memory, or any suitable combination thereof), registers, orother machine components that receive, store, transmit, or displayinformation. Furthermore, unless specifically stated otherwise, theterms “a” or “an” are herein used, as is common in patent documents, toinclude one or more than one instance. Finally, as used herein, theconjunction “or” refers to a non-exclusive “or,” unless specificallystated otherwise.

What is claimed is:
 1. An article of footwear, comprising: a midsole; anupper secured with respect to the midsole; a lace extending through theupper; and a motorized lacing system positioned within the midsole,configured to engage with the lace to increase and decrease tension onthe lace, the motorized lacing system comprising: a motor, including amotor shaft; a spool, coupled to the motor shaft, configured to spooland unspool the lace based on the turning of the motor shaft; aprocessor circuit; and an optical encoder, comprising: athree-dimensional encoder defining a major axis and having a surfacehaving a plurality of tabs extending from a drum; an optical sensor,positioned within optical range of the cylindrical encoder, configuredto output a signal to the processor circuit indicative of a detected oneof the plurality of tabs; and a beam break, positioned between thethree-dimensional encoder and the optical sensor, forming a pair ofslits, wherein the optical sensor is positioned to view the plurality oftabs through the pair of slits; wherein the processor circuit isconfigured to operate the motor based, at least in part, on the signalas received from the optical sensor.
 2. The article of footwear of claim1, wherein the optical sensor is a first optical sensor and furthercomprising a second optical sensor spaced apart from the first opticalsensor.
 3. The article of footwear of claim 2, wherein the first opticalsensor is positioned proximate a first one of the pair of slits and thesecond optical sensor is positioned proximate a second one of the pairof slits.
 4. The article of footwear of claim 2, wherein the first andsecond optical sensors form an angle of approximately fifty-four degreeswith respect to one another.
 5. The article of footwear of claim 4,wherein the tabs are spaced with respect to one another so that when oneof the tabs is aligned with one of the slits another one of the tabs isaligned with the other of the slits.
 6. The article of footwear of claim5, wherein the plurality of tabs is five tabs.
 7. The article offootwear of claim 5, wherein the plurality of tabs is an odd number. 8.A motorized lacing system, comprising: a motor, including a motor shaft;a spool, coupled to the motor shaft, configured to spool and unspool alace based on the turning of the motor shaft; a processor circuit; andan optical encoder, comprising: a three-dimensional encoder defining amajor axis and having a surface having a plurality of tabs extendingfrom a drum; an optical sensor, positioned within optical range of thethree-dimensional encoder, configured to output a signal to theprocessor circuit indicative of a detected one of the plurality of tabs;and a beam break, positioned between the three-dimensional encoder andthe optical sensor, forming a pair of slits, wherein the optical sensoris positioned to view the plurality of tabs through the pair of slits;wherein the processor circuit is configured to operate the motor based,at least in part, on the signal as received from the optical sensor. 9.The motorized lacing system of claim 8, wherein the optical sensor is afirst optical sensor and further comprising a second optical sensorspaced apart from the first optical sensor.
 10. The motorized lacingsystem of claim 9, wherein the first optical sensor is positionedproximate a first one of the pair of slits and the second optical sensoris positioned proximate a second one of the pair of slits.
 11. Themotorized lacing system of claim 9, wherein the first and second opticalsensors form an angle of approximately fifty-four degrees with respectto one another.
 12. The motorized lacing system of claim 11, wherein thetabs are spaced with respect to one another so that when one of the tabsis aligned with one of the slits another one of the tabs is aligned withthe other of the slits.
 13. The motorized lacing system of claim 12,wherein the plurality of tabs is five tabs.